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<div class="title">sequential_fitter.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef SEQUENTIAL_FITTER_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define SEQUENTIAL_FITTER_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">//#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">//#include &quot;v4r/TomGine/tgTomGine.h&quot;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">//#include &quot;v4r/NurbsConvertion/NurbsConvertion.h&quot;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">// remove multiple #defines from xlib and OpenMesh</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#undef True</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#undef False</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#undef None</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#undef Status</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/fitting_surface_pdm.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_data.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">//#include &quot;v4r/NurbsConvertion/DataLoading.h&quot;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html">   63</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html">SequentialFitter</a></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">   66</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">Parameter</a></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          <span class="keywordtype">int</span> order;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          <span class="keywordtype">int</span> refinement;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;          <span class="keywordtype">int</span> iterationsQuad;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          <span class="keywordtype">int</span> iterationsBoundary;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          <span class="keywordtype">int</span> iterationsAdjust;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          <span class="keywordtype">int</span> iterationsInterior;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;          <span class="keywordtype">double</span> forceBoundary;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;          <span class="keywordtype">double</span> forceBoundaryInside;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <span class="keywordtype">double</span> forceInterior;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          <span class="keywordtype">double</span> stiffnessBoundary;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <span class="keywordtype">double</span> stiffnessInterior;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="keywordtype">int</span> resolution;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">Parameter</a> (<span class="keywordtype">int</span> order = 3, <span class="keywordtype">int</span> refinement = 1, <span class="keywordtype">int</span> iterationsQuad = 5, <span class="keywordtype">int</span> iterationsBoundary = 5,</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                     <span class="keywordtype">int</span> iterationsAdjust = 5, <span class="keywordtype">int</span> iterationsInterior = 2, <span class="keywordtype">double</span> forceBoundary = 200.0,</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                     <span class="keywordtype">double</span> forceBoundaryInside = 400.0, <span class="keywordtype">double</span> forceInterior = 1.0, <span class="keywordtype">double</span> stiffnessBoundary = 20.0,</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                     <span class="keywordtype">double</span> stiffnessInterior = 0.1, <span class="keywordtype">int</span> resolution = 16);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        };</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">Parameter</a> m_params;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> m_data;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> m_nurbs;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="class_o_n__3d_point.html">ON_3dPoint</a> m_corners[4];</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr m_cloud;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        pcl::PointIndices::Ptr m_boundary_indices;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        pcl::PointIndices::Ptr m_interior_indices;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        Eigen::Matrix4d m_intrinsic;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        Eigen::Matrix4d m_extrinsic;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordtype">bool</span> m_have_cloud;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keywordtype">bool</span> m_have_corners;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keywordtype">int</span> m_surf_id;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        compute_quadfit ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        compute_refinement (<a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html">FittingSurface</a>* fitting);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        compute_boundary (<a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html">FittingSurface</a>* fitting);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        compute_interior (<a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_surface.html">FittingSurface</a>* fitting);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        Eigen::Vector2d</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        project (<span class="keyword">const</span> Eigen::Vector3d &amp;pt);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        is_back_facing (<span class="keyword">const</span> Eigen::Vector3d &amp;v0, </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                        <span class="keyword">const</span> Eigen::Vector3d &amp;v1, </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                        <span class="keyword">const</span> Eigen::Vector3d &amp;v2,</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                        <span class="keyword">const</span> Eigen::Vector3d &amp;v3);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html">SequentialFitter</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">Parameter</a> p = <a class="code" href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">Parameter</a> ());</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        setParams (<span class="keyword">const</span> <a class="code" href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">Parameter</a> &amp;p)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          m_params = p;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a4d0e61afa14bd57b2819e369a8bc48bb">  134</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a4d0e61afa14bd57b2819e369a8bc48bb">setInputCloud</a> (pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr &amp;pcl_cloud);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a477e60df037fbb8f31f3cea461252a8f">  138</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a477e60df037fbb8f31f3cea461252a8f">setBoundary</a> (pcl::PointIndices::Ptr &amp;pcl_cloud_indices);</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ab9f57a324f8c020e08359cbab99cb918">  142</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ab9f57a324f8c020e08359cbab99cb918">setInterior</a> (pcl::PointIndices::Ptr &amp;pcl_cloud_indices);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#aa131da8b0de19fb17ebbe15777f2b9e6">  146</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#aa131da8b0de19fb17ebbe15777f2b9e6">setCorners</a> (pcl::PointIndices::Ptr &amp;corners, <span class="keywordtype">bool</span> flip_on_demand = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a6e85e7d3c4e5cddc8621f54d6e3a7733">  152</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a6e85e7d3c4e5cddc8621f54d6e3a7733">setProjectionMatrix</a> (<span class="keyword">const</span> Eigen::Matrix4d &amp;intrinsic, </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                             <span class="keyword">const</span> Eigen::Matrix4d &amp;extrinsic);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#af617e2732c6d562cf556e453961761a5">  157</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#af617e2732c6d562cf556e453961761a5">compute</a> (<span class="keywordtype">bool</span> assemble = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a1f3ec51e0900234be9cf99fccaf2127a">  162</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a1f3ec51e0900234be9cf99fccaf2127a">compute_boundary</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs);</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a89844824d4844d538599acc5c7cd96ac">  167</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a89844824d4844d538599acc5c7cd96ac">compute_interior</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keyword">inline</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a9cf7a42d18a747d218099098b7cfb230">  171</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a9cf7a42d18a747d218099098b7cfb230">getNurbs</a> ()</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;          <span class="keywordflow">return</span> m_nurbs;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a0779fa03defac6fc9d660f7748858b7c">  178</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a0779fa03defac6fc9d660f7748858b7c">getInteriorError</a> (std::vector&lt;double&gt; &amp;error);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#aa286d6267771b6c9fa79704eb657a238">  182</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#aa286d6267771b6c9fa79704eb657a238">getBoundaryError</a> (std::vector&lt;double&gt; &amp;error);</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a506d54a07aecaa53b6679fb67972717c">  186</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a506d54a07aecaa53b6679fb67972717c">getInteriorParams</a> (std::vector&lt;Eigen::Vector2d, Eigen::aligned_allocator&lt;Eigen::Vector2d&gt; &gt; &amp;params);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ac4b14e98fdd968d5330bb901d9cb1d6b">  190</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ac4b14e98fdd968d5330bb901d9cb1d6b">getBoundaryParams</a> (std::vector&lt;Eigen::Vector2d, Eigen::aligned_allocator&lt;Eigen::Vector2d&gt; &gt; &amp;params);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ad87aabf24e96318f8f9f96e98c06c1ff">  194</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ad87aabf24e96318f8f9f96e98c06c1ff">getInteriorNormals</a> (std::vector&lt;Eigen::Vector3d, Eigen::aligned_allocator&lt;Eigen::Vector3d&gt; &gt; &amp;normal);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a238d48ac97ce147fc39465dc3284ef60">  198</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a238d48ac97ce147fc39465dc3284ef60">getBoundaryNormals</a> (std::vector&lt;Eigen::Vector3d, Eigen::aligned_allocator&lt;Eigen::Vector3d&gt; &gt; &amp;normals);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a822b8645e35c35d7825674b3abf21e62">  207</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a822b8645e35c35d7825674b3abf21e62">getClosestPointOnNurbs</a> (<a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> nurbs, </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                                <span class="keyword">const</span> Eigen::Vector3d &amp;pt, </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                                Eigen::Vector2d&amp; params, </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                                <span class="keywordtype">int</span> maxSteps = 100,</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                                <span class="keywordtype">double</span> accuracy = 1e-4);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a6aba7d64bb743d5ac1c9124cce592b09">  215</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a6aba7d64bb743d5ac1c9124cce592b09">grow</a> (<span class="keywordtype">float</span> max_dist = 1.0f, <span class="keywordtype">float</span> max_angle = M_PI_4, <span class="keywordtype">unsigned</span> min_length = 0, <span class="keywordtype">unsigned</span> max_length = 10);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ac94889961fd5050acb3a73561250319a">  219</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ac94889961fd5050acb3a73561250319a">PCL2ON</a> (pcl::PointCloud&lt;pcl::PointXYZRGB&gt;::Ptr &amp;pcl_cloud, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, vector_vec3d &amp;cloud);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    };</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclass_o_n__3d_point_html"><div class="ttname"><a href="class_o_n__3d_point.html">ON_3dPoint</a></div><div class="ttdef"><b>Definition:</b> opennurbs_point.h:419</div></div>
<div class="ttc" id="aclass_o_n___nurbs_surface_html"><div class="ttname"><a href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div><div class="ttdef"><b>Definition:</b> opennurbs_nurbssurface.h:65</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_surface_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_surface.html">pcl::on_nurbs::FittingSurface</a></div><div class="ttdoc">Fitting a B-Spline surface to 3D point-clouds using point-distance-minimization Based on paper: TODO</div><div class="ttdef"><b>Definition:</b> fitting_surface_pdm.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html">pcl::on_nurbs::SequentialFitter</a></div><div class="ttdef"><b>Definition:</b> sequential_fitter.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a0779fa03defac6fc9d660f7748858b7c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a0779fa03defac6fc9d660f7748858b7c">pcl::on_nurbs::SequentialFitter::getInteriorError</a></div><div class="ttdeci">void getInteriorError(std::vector&lt; double &gt; &amp;error)</div><div class="ttdoc">Get error of each interior point (L2-norm of point to closest point on surface) and square-error</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a1f3ec51e0900234be9cf99fccaf2127a"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a1f3ec51e0900234be9cf99fccaf2127a">pcl::on_nurbs::SequentialFitter::compute_boundary</a></div><div class="ttdeci">ON_NurbsSurface compute_boundary(const ON_NurbsSurface &amp;nurbs)</div><div class="ttdoc">Compute boundary points and fit (multiple) models (without interior points - minimal curvature surfac...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a238d48ac97ce147fc39465dc3284ef60"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a238d48ac97ce147fc39465dc3284ef60">pcl::on_nurbs::SequentialFitter::getBoundaryNormals</a></div><div class="ttdeci">void getBoundaryNormals(std::vector&lt; Eigen::Vector3d, Eigen::aligned_allocator&lt; Eigen::Vector3d &gt; &gt; &amp;normals)</div><div class="ttdoc">get the normals to the boundary points given by setBoundary()</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a477e60df037fbb8f31f3cea461252a8f"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a477e60df037fbb8f31f3cea461252a8f">pcl::on_nurbs::SequentialFitter::setBoundary</a></div><div class="ttdeci">void setBoundary(pcl::PointIndices::Ptr &amp;pcl_cloud_indices)</div><div class="ttdoc">Set boundary points of input point cloud</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a4d0e61afa14bd57b2819e369a8bc48bb"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a4d0e61afa14bd57b2819e369a8bc48bb">pcl::on_nurbs::SequentialFitter::setInputCloud</a></div><div class="ttdeci">void setInputCloud(pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;pcl_cloud)</div><div class="ttdoc">Set input point cloud</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a506d54a07aecaa53b6679fb67972717c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a506d54a07aecaa53b6679fb67972717c">pcl::on_nurbs::SequentialFitter::getInteriorParams</a></div><div class="ttdeci">void getInteriorParams(std::vector&lt; Eigen::Vector2d, Eigen::aligned_allocator&lt; Eigen::Vector2d &gt; &gt; &amp;params)</div><div class="ttdoc">Get parameter of each interior point</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a6aba7d64bb743d5ac1c9124cce592b09"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a6aba7d64bb743d5ac1c9124cce592b09">pcl::on_nurbs::SequentialFitter::grow</a></div><div class="ttdeci">ON_NurbsSurface grow(float max_dist=1.0f, float max_angle=M_PI_4, unsigned min_length=0, unsigned max_length=10)</div><div class="ttdoc">Growing algorithm (TODO: under construction)</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a6e85e7d3c4e5cddc8621f54d6e3a7733"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a6e85e7d3c4e5cddc8621f54d6e3a7733">pcl::on_nurbs::SequentialFitter::setProjectionMatrix</a></div><div class="ttdeci">void setProjectionMatrix(const Eigen::Matrix4d &amp;intrinsic, const Eigen::Matrix4d &amp;extrinsic)</div><div class="ttdoc">Set camera- and world matrices, for projection and back-face detection</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a822b8645e35c35d7825674b3abf21e62"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a822b8645e35c35d7825674b3abf21e62">pcl::on_nurbs::SequentialFitter::getClosestPointOnNurbs</a></div><div class="ttdeci">static void getClosestPointOnNurbs(ON_NurbsSurface nurbs, const Eigen::Vector3d &amp;pt, Eigen::Vector2d &amp;params, int maxSteps=100, double accuracy=1e-4)</div><div class="ttdoc">Get the closest point on a NURBS from a point pt in parameter space</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a89844824d4844d538599acc5c7cd96ac"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a89844824d4844d538599acc5c7cd96ac">pcl::on_nurbs::SequentialFitter::compute_interior</a></div><div class="ttdeci">ON_NurbsSurface compute_interior(const ON_NurbsSurface &amp;nurbs)</div><div class="ttdoc">Compute interior points and fit (multiple) models (without boundary points)</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_a9cf7a42d18a747d218099098b7cfb230"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#a9cf7a42d18a747d218099098b7cfb230">pcl::on_nurbs::SequentialFitter::getNurbs</a></div><div class="ttdeci">ON_NurbsSurface getNurbs()</div><div class="ttdoc">Get resulting NURBS surface.</div><div class="ttdef"><b>Definition:</b> sequential_fitter.h:171</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_aa131da8b0de19fb17ebbe15777f2b9e6"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#aa131da8b0de19fb17ebbe15777f2b9e6">pcl::on_nurbs::SequentialFitter::setCorners</a></div><div class="ttdeci">void setCorners(pcl::PointIndices::Ptr &amp;corners, bool flip_on_demand=true)</div><div class="ttdoc">Set corner points of input point cloud</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_aa286d6267771b6c9fa79704eb657a238"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#aa286d6267771b6c9fa79704eb657a238">pcl::on_nurbs::SequentialFitter::getBoundaryError</a></div><div class="ttdeci">void getBoundaryError(std::vector&lt; double &gt; &amp;error)</div><div class="ttdoc">Get error of each boundary point (L2-norm of point to closest point on surface) and square-error</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_ab9f57a324f8c020e08359cbab99cb918"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ab9f57a324f8c020e08359cbab99cb918">pcl::on_nurbs::SequentialFitter::setInterior</a></div><div class="ttdeci">void setInterior(pcl::PointIndices::Ptr &amp;pcl_cloud_indices)</div><div class="ttdoc">Set interior points of input point cloud</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_ac4b14e98fdd968d5330bb901d9cb1d6b"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ac4b14e98fdd968d5330bb901d9cb1d6b">pcl::on_nurbs::SequentialFitter::getBoundaryParams</a></div><div class="ttdeci">void getBoundaryParams(std::vector&lt; Eigen::Vector2d, Eigen::aligned_allocator&lt; Eigen::Vector2d &gt; &gt; &amp;params)</div><div class="ttdoc">Get parameter of each boundary point</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_ac94889961fd5050acb3a73561250319a"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ac94889961fd5050acb3a73561250319a">pcl::on_nurbs::SequentialFitter::PCL2ON</a></div><div class="ttdeci">static unsigned PCL2ON(pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;pcl_cloud, const std::vector&lt; int &gt; &amp;indices, vector_vec3d &amp;cloud)</div><div class="ttdoc">Convert point-cloud</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_ad87aabf24e96318f8f9f96e98c06c1ff"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#ad87aabf24e96318f8f9f96e98c06c1ff">pcl::on_nurbs::SequentialFitter::getInteriorNormals</a></div><div class="ttdeci">void getInteriorNormals(std::vector&lt; Eigen::Vector3d, Eigen::aligned_allocator&lt; Eigen::Vector3d &gt; &gt; &amp;normal)</div><div class="ttdoc">get the normals to the interior points given by setInterior()</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_sequential_fitter_html_af617e2732c6d562cf556e453961761a5"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_sequential_fitter.html#af617e2732c6d562cf556e453961761a5">pcl::on_nurbs::SequentialFitter::compute</a></div><div class="ttdeci">ON_NurbsSurface compute(bool assemble=false)</div><div class="ttdoc">Compute point cloud and fit (multiple) models</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_nurbs_data_surface_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">pcl::on_nurbs::NurbsDataSurface</a></div><div class="ttdoc">Data structure for NURBS surface fitting (FittingSurface, FittingSurfaceTDM, FittingCylinder,...</div><div class="ttdef"><b>Definition:</b> nurbs_data.h:61</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_sequential_fitter_1_1_parameter.html">pcl::on_nurbs::SequentialFitter::Parameter</a></div><div class="ttdef"><b>Definition:</b> sequential_fitter.h:67</div></div>
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